JP2019055756A - Recognition support apparatus for vehicle - Google Patents

Recognition support apparatus for vehicle Download PDF

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JP2019055756A
JP2019055756A JP2017182661A JP2017182661A JP2019055756A JP 2019055756 A JP2019055756 A JP 2019055756A JP 2017182661 A JP2017182661 A JP 2017182661A JP 2017182661 A JP2017182661 A JP 2017182661A JP 2019055756 A JP2019055756 A JP 2019055756A
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irradiation
light
period
recognition
vehicle
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川真田　進也
Shinya Kawamata
進也 川真田
文男 菅谷
Fumio Sugaya
文男 菅谷
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Toyota Motor Corp
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Priority to JP2017182661A priority Critical patent/JP2019055756A/en
Priority to US16/047,093 priority patent/US10949683B2/en
Priority to CN201810862593.0A priority patent/CN109532651A/en
Publication of JP2019055756A publication Critical patent/JP2019055756A/en
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/02—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments
    • B60Q1/04—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights
    • B60Q1/14—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to illuminate the way ahead or to illuminate other areas of way or environments the devices being headlights having dimming means
    • B60Q1/1415—Dimming circuits
    • B60Q1/1423—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic
    • B60Q1/143—Automatic dimming circuits, i.e. switching between high beam and low beam due to change of ambient light or light level in road traffic combined with another condition, e.g. using vehicle recognition from camera images or activation of wipers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/547—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2300/00—Indexing codes for automatically adjustable headlamps or automatically dimmable headlamps
    • B60Q2300/40—Indexing codes relating to other road users or special conditions
    • B60Q2300/45—Special conditions, e.g. pedestrians, road signs or potential dangers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q2400/00—Special features or arrangements of exterior signal lamps for vehicles
    • B60Q2400/50—Projected symbol or information, e.g. onto the road or car body

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
  • Traffic Control Systems (AREA)

Abstract

To provide a recognition support apparatus for a vehicle which irradiates, with light, a warning target object recognized by using an image recognition sensor including a camera, and which can suppress a change in the appearance of a recognition target object in an image due to irradiation with light.SOLUTION: A recognition support apparatus for a vehicle comprises: an image recognition sensor 12 including a camera for taking an image of the surroundings of an own vehicle while alternately repeating an exposure period and a non-exposure period; an irradiation device 14 capable of irradiating the surroundings of the own vehicle with light; an object recognition unit 18 for recognizing an object present in the surroundings of the own vehicle by using the image recognition sensor 12; and a light irradiation control unit 20 which, when the object recognized by the object recognition unit 18 is a warning target object, executes intermittent irradiation of the target object with light by using the irradiation device 14. The intermittent irradiation is executed in such a manner that a light irradiation period and a non-irradiation period are alternately repeated, and that the non-irradiation period includes at least part of the exposure period.SELECTED DRAWING: Figure 4

Description

この発明は、車両用認知支援装置に関する。   The present invention relates to a vehicle recognition support apparatus.

特許文献１には、対歩行者報知装置が開示されている。この対歩行者報知装置によれば、カメラを用いて自車両周辺に歩行者が存在するか否かが判定される。そのうえで、車両が認知した歩行者に対して、車両が歩行者を認識したことを報知するために、歩行者に対してマーキング光が照射される。   Patent Document 1 discloses a pedestrian notification device. According to this anti-pedestrian notification device, it is determined whether or not there is a pedestrian around the host vehicle using a camera. In addition, in order to notify the pedestrian recognized by the vehicle that the vehicle has recognized the pedestrian, marking light is emitted to the pedestrian.

特開２０１４−０４６８３８号公報JP, 2014-046838, A

特許文献１に記載の技術のようにカメラを利用する画像認識センサを用いて歩行者認識を行うシステムは、マーキング光が歩行者に対して特別な配慮なしに連続的に照射されると、マーキング光が画像中の歩行者の見え方を変化させてしまう。このことは、歩行者認識の妨げとなる。また、このような光照射による課題が生じる画像中の認識対象物は、認知支援装置による歩行者などの注意喚起の対象物体に限られず、例えば、道路上の白線を含む。白線の例について説明すると、照射される光の形状および位置によっては、照射された光を白線として誤認識してしまう可能性がある。   A system that performs pedestrian recognition using an image recognition sensor that uses a camera as in the technique described in Patent Document 1, the marking is performed when marking light is continuously emitted to the pedestrian without any special consideration. Light changes the way pedestrians appear in the image. This hinders pedestrian recognition. Moreover, the recognition target object in the image which the subject by such light irradiation produces is not restricted to the target object of alerting, such as a pedestrian by a recognition assistance apparatus, For example, the white line on a road is included. An example of a white line will be described. Depending on the shape and position of the irradiated light, the irradiated light may be erroneously recognized as a white line.

本発明は、上述のような課題に鑑みてなされたものであり、カメラを含む画像認識センサを用いて認識された注意喚起の対象物体に対して光の照射を行う車両用認知支援装置であって、光の照射によって画像中の認識対象物の見え方が変化することを抑制できるようにした車両用認知支援装置を提供することを目的とする。   The present invention has been made in view of the above-described problems, and is a vehicle recognition support device that irradiates light on a target object that is recognized using an image recognition sensor including a camera. An object of the present invention is to provide a vehicular recognition support apparatus that can suppress a change in the appearance of a recognition object in an image due to light irradiation.

本発明に係る車両用認知支援装置は、画像認識センサと、照射装置と、物体認識部と、光照射制御部と、を備える。
前記画像認識センサは、露光期間と非露光期間とを交互に繰り返しながら自車両の周辺を撮像するカメラを含む。
前記照射装置は、前記自車両の周辺に光を照射可能に構成されている。
前記物体認識部は、前記画像認識センサを用いて前記自車両の周辺に存在する物体を認識する。
前記光照射制御部は、前記物体認識部により認識された物体が注意喚起の対象物体である場合に、前記対象物体に対して前記照射装置を用いて光の間欠照射を実行する。
前記間欠照射は、光の照射期間と非照射期間とが交互に繰り返され、かつ、前記非照射期間が前記露光期間の少なくとも一部を含むように実行される。 The vehicular recognition support apparatus according to the present invention includes an image recognition sensor, an irradiation device, an object recognition unit, and a light irradiation control unit.
The image recognition sensor includes a camera that captures the periphery of the host vehicle while alternately repeating an exposure period and a non-exposure period.
The irradiation device is configured to be able to irradiate light around the vehicle.
The object recognition unit recognizes an object existing around the host vehicle using the image recognition sensor.
The light irradiation control unit performs intermittent light irradiation on the target object using the irradiation device when the object recognized by the object recognition unit is a target object for alerting.
The intermittent irradiation is performed such that the light irradiation period and the non-irradiation period are alternately repeated, and the non-irradiation period includes at least a part of the exposure period.

前記間欠照射は、前記非照射期間が前記露光期間と一致し、かつ、前記照射期間が前記非露光期間と一致するように実行されてもよい。   The intermittent irradiation may be performed such that the non-irradiation period coincides with the exposure period and the irradiation period coincides with the non-exposure period.

本発明によれば、注意喚起の対象物体に対して光を照射する場合には、間欠照射が実行される。この間欠照射は、光の照射期間と非照射期間とが交互に繰り返され、かつ、非照射期間がカメラの露光期間の少なくとも一部を含むように実行される。これにより、カメラの露光／非露光について特別な配慮なしに光が連続的に照射される例と比べ、露光期間中の照射が時間的に短くなる。このため、本発明によれば、カメラにより撮像される画像への照射光の映り込みを抑制できるので、光の照射によって画像中の認識対象物の見え方が変化することを抑制できる。   According to the present invention, intermittent irradiation is performed when irradiating light on a target object to be alerted. The intermittent irradiation is executed such that the light irradiation period and the non-irradiation period are alternately repeated, and the non-irradiation period includes at least a part of the exposure period of the camera. Thereby, compared with the example which light is continuously irradiated without special consideration about exposure / non-exposure of a camera, irradiation in an exposure period becomes short in time. For this reason, according to this invention, since the reflection of the irradiation light to the image imaged with a camera can be suppressed, it can suppress that the appearance of the recognition target object in an image changes with light irradiation.

本発明の実施の形態に係る車両用認知支援装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of a structure of the recognition assistance apparatus for vehicles which concerns on embodiment of this invention. 本発明の実施の形態に係る光照射制御との対比のために参照する光照射制御の例（光照射制御Ａ）を説明するためのタイムチャートである。It is a time chart for demonstrating the example (light irradiation control A) of the light irradiation control referred for contrast with the light irradiation control which concerns on embodiment of this invention. マーキング光の照射に起因する白線の誤認識の一例を説明するための図である。It is a figure for demonstrating an example of the misrecognition of the white line resulting from irradiation of marking light. 本発明の実施の形態に係る光照射制御を説明するためのタイムチャートである。It is a time chart for demonstrating the light irradiation control which concerns on embodiment of this invention. 本発明の実施の形態に係る光照射制御に関する処理のルーチンを示すフローチャートである。It is a flowchart which shows the routine of the process regarding the light irradiation control which concerns on embodiment of this invention. 本発明の実施の形態に係る光照射制御の効果を説明するための図である。It is a figure for demonstrating the effect of the light irradiation control which concerns on embodiment of this invention. 本発明の実施の形態に係る光照射制御における間欠照射の変形例１〜３を説明するための図である。It is a figure for demonstrating the modifications 1-3 of the intermittent irradiation in the light irradiation control which concerns on embodiment of this invention.

以下、図面を参照して本発明の実施の形態について説明する。以下に示す実施の形態において各要素の個数、数量、量、範囲等の数に言及した場合、特に明示した場合や原理的に明らかにその数に特定される場合を除いて、その言及した数に、この発明が限定されるものではない。また、以下に示す実施の形態において説明する構造やステップ等は、特に明示した場合や明らかに原理的にそれに特定される場合を除いて、この発明に必ずしも必須のものではない。   Embodiments of the present invention will be described below with reference to the drawings. In the embodiment shown below, when the number of each element is mentioned, the number, quantity, range, range, etc., unless otherwise specified or clearly specified in principle, the number mentioned. However, the present invention is not limited to this. Further, the structures, steps, and the like described in the embodiments below are not necessarily essential to the present invention unless otherwise specified or clearly specified in principle.

１．車両用認知支援装置の構成
本発明の実施の形態に係る車両用認知支援装置は、それが適用される自車両（運転者）と「注意喚起の対象物体」との相互認知を支援する装置である。この注意喚起の対象物体の例としては、人（例えば、歩行者、自転車）および動物が含まれる。以下、本実施形態では、この対象物体として、歩行者を例に挙げて説明を行う。 1. Configuration of Vehicle Recognition Support Device A vehicle recognition support device according to an embodiment of the present invention is a device that supports mutual recognition between a host vehicle (driver) to which the vehicle recognition support device is applied and an “object to be alerted”. is there. Examples of objects to be alerted include people (for example, pedestrians, bicycles) and animals. Hereinafter, in this embodiment, a pedestrian will be described as an example of the target object.

図１は、本発明の実施の形態に係る車両用認知支援装置の構成の一例を示すブロック図である。図１に示すように、車両用認知支援装置（以下、単に「認知支援装置」と略する）１０は、画像認識センサ１２、照射装置１４および電子制御ユニット（ＥＣＵ）１６を備えている。   FIG. 1 is a block diagram showing an example of the configuration of a vehicle recognition support apparatus according to an embodiment of the present invention. As shown in FIG. 1, the vehicle recognition support device (hereinafter simply referred to as “recognition support device”) 10 includes an image recognition sensor 12, an irradiation device 14, and an electronic control unit (ECU) 16.

１−１．画像認識センサ
画像認識センサ１２は、自車両周辺を撮像するカメラを含んでいる。カメラは、一例として、車両から撮像対象までの距離を計測可能なステレオカメラである。カメラは、自車両周辺を撮像する際に、後述の図２、４に示すように露光期間と非露光期間とを交互に繰り返す。 1-1. Image Recognition Sensor The image recognition sensor 12 includes a camera that images the periphery of the host vehicle. As an example, the camera is a stereo camera that can measure the distance from the vehicle to the imaging target. The camera alternately repeats an exposure period and a non-exposure period as shown in FIGS.

１−２．照射装置
照射装置１４は、自車両の周辺（より具体的には、前方）に光を照射するために、車両の所定部位（例えば、ヘッドランプユニットの内部、またはフロントバンパ）に取り付けられている。より詳細には、照射装置１４は、光の照射のために一例としてマーカランプを使用する。照射装置１４により照射される光の形状は特に限定されず、例えば、レーザ光のような指向性の高い光を用いることができる。或いは、歩行者を誘導するための光（例えば、歩行者が横断可能であることを示す形状の光（横断歩道形状の光など））、または歩行停止を促す形状の光が用いられてもよい。なお、照射装置１４は、注意喚起の対象物体に対して効果的に光を照射するために、対象物体の位置に応じて光の照射方向を調整するためのアクチュエータを備えていてもよい。 1-2. Irradiation device The irradiation device 14 is attached to a predetermined part of the vehicle (for example, inside the headlamp unit or the front bumper) in order to irradiate light around the vehicle (more specifically, forward). . More specifically, the irradiation device 14 uses a marker lamp as an example for light irradiation. The shape of the light irradiated by the irradiation apparatus 14 is not specifically limited, For example, highly directional light like a laser beam can be used. Alternatively, light for guiding the pedestrian (for example, light having a shape indicating that the pedestrian can cross (eg, light having a pedestrian crossing)), or light having a shape that prompts stop walking may be used. . Note that the irradiation device 14 may include an actuator for adjusting the light irradiation direction according to the position of the target object in order to effectively irradiate the target object with the attention.

１−３．ＥＣＵ
ＥＣＵ１６は、プロセッサ、メモリおよび入出力インターフェースを備えている。ＥＣＵ１６は、本実施形態の相互認知支援制御に関連する機能ブロックとして、物体認識部１８と光照射制御部２０とを備えている。これらの機能ブロックは、認知支援装置１０内にハードウェアとして存在するものではなく、メモリに記憶されたプログラムがプロセッサによって実行されたときにソフトウェア的に実現される。 1-3. ECU
The ECU 16 includes a processor, a memory, and an input / output interface. ECU16 is provided with the object recognition part 18 and the light irradiation control part 20 as a functional block relevant to the mutual recognition assistance control of this embodiment. These functional blocks do not exist as hardware in the recognition support apparatus 10, but are realized by software when a program stored in the memory is executed by the processor.

物体認識部１８は、画像認識センサ１２を用いて自車両の周辺に存在する物体を認識する機能を実現する。具体的には、物体認識部１８は、入出力インターフェースを介して画像認識センサ１２から自車両周辺の画像を受け取る。そして、物体認識部１８は、受け取った画像に対して所定の画像認識処理を施すことにより上記物体の認識を行う。この画像認識処理の典型例はパターン認識である。   The object recognition unit 18 realizes a function of recognizing an object existing around the own vehicle using the image recognition sensor 12. Specifically, the object recognition unit 18 receives an image around the host vehicle from the image recognition sensor 12 via the input / output interface. The object recognition unit 18 recognizes the object by performing a predetermined image recognition process on the received image. A typical example of this image recognition processing is pattern recognition.

光照射制御部２０は、物体認識部１８により認識された物体が注意喚起対象となる歩行者である場合に、その歩行者に対して照射装置１４を用いて光を照射する。より詳細には、この場合の光の照射は、図４を参照して後述される「間欠照射」である。また、歩行者に対する照射の例としては、歩行者自体もしくは歩行者の周辺の道路に向けて任意の形状のマーキング光（例えば、上記の線状の光）を照射する例が挙げられる。なお、物体認識部１８により認識された歩行者が注意喚起対象（すなわち、注意喚起すべき）歩行者であるか否かの判断は、任意の公知の手法を利用して行えばよい。   When the object recognized by the object recognition unit 18 is a pedestrian to be alerted, the light irradiation control unit 20 irradiates the pedestrian with light using the irradiation device 14. More specifically, the light irradiation in this case is “intermittent irradiation” described later with reference to FIG. Moreover, as an example of irradiation with respect to a pedestrian, the example which irradiates marking light (for example, said linear light) of arbitrary shapes toward the pedestrian itself or the road around a pedestrian is mentioned. Note that whether or not the pedestrian recognized by the object recognizing unit 18 is a target to be alerted (that is, to be alerted) may be determined using any known method.

２．実施の形態に係る相互認知支援制御（光照射制御）
本実施形態において行われる車両（運転者）と歩行者間の相互認知支援制御は、歩行者に対して光を照射する「光照射制御」である。このような光照射制御によれば、車両の接近および車両が歩行者を認知していることを歩行者に知らせることができるとともに、歩行者の存在を運転者に知らせることができる。 2. Mutual cognitive support control (light irradiation control) according to the embodiment
The mutual recognition support control between the vehicle (driver) and the pedestrian performed in the present embodiment is “light irradiation control” for irradiating light to the pedestrian. According to such light irradiation control, it is possible to notify the pedestrian that the vehicle is approaching and the vehicle is recognizing the pedestrian, and to inform the driver of the presence of the pedestrian.

２−１．照射される光が画像認識センサに与える影響
図２は、本発明の実施の形態に係る光照射制御との対比のために参照する光照射制御の例（以下、便宜上、「光照射制御Ａ」と称する）を説明するためのタイムチャートである。 2-1. FIG. 2 shows an example of the light irradiation control referred to for comparison with the light irradiation control according to the embodiment of the present invention (hereinafter, “light irradiation control A” for convenience). Is a time chart for explaining.

上述のように、画像認識センサ１２のカメラは、自車両周辺を撮像する際に露光期間と非露光期間とを交互に繰り返す。図２中の時点ｔ１は光照射制御Ａによる光の照射の開始時期であり、時点ｔ２はその終了時期である。時点ｔ１から時点ｔ２までの期間は、光の照射実行期間Ｔであり、歩行者および運転者への注意喚起のために要求される時間として決定されたものである。図２に示すように、光照射制御Ａによる照射は、照射実行期間Ｔ中に連続的に実行される（以下、「連続照射」と称する）。   As described above, the camera of the image recognition sensor 12 alternately repeats the exposure period and the non-exposure period when imaging the periphery of the host vehicle. The time t1 in FIG. 2 is the start time of light irradiation by the light irradiation control A, and the time t2 is the end time. The period from the time point t1 to the time point t2 is the light irradiation execution period T, which is determined as the time required for alerting the pedestrian and the driver. As shown in FIG. 2, the irradiation by the light irradiation control A is continuously executed during the irradiation execution period T (hereinafter referred to as “continuous irradiation”).

図２に示す光照射制御Ａ（比較例）を用いてマーキング光が歩行者に対して連続的に照射されると、露光期間中に照射が行われるため、マーキング光が画像中の歩行者の見え方を変化させてしまうことがある。このことは、歩行者認識の妨げとなる。より詳細には、画像認識による歩行者認識のために一般的に利用されるパターン認識では、教師データ（本実施形態では歩行者の正解画像）を学習させておき、その教師データと近いパターンを持つ領域を歩行者の画像として識別（認識）することが行われる。しかしながら、歩行者に対してマーキング光を照射してしまうと、上記のようにマーキング光が画像中の歩行者の見え方を変化させてしまう。このため、パターン認識が阻害され、その結果として、歩行者を見落としてしまう可能性がある。   When the marking light is continuously irradiated to the pedestrian using the light irradiation control A (comparative example) shown in FIG. 2, the marking light is emitted from the pedestrian in the image because the irradiation is performed during the exposure period. It may change the appearance. This hinders pedestrian recognition. More specifically, in pattern recognition generally used for pedestrian recognition by image recognition, teacher data (in this embodiment, a correct image of a pedestrian) is learned, and a pattern close to the teacher data is obtained. Identification (recognition) of the possessed area as a pedestrian image is performed. However, if the marking light is irradiated to the pedestrian, the marking light changes the appearance of the pedestrian in the image as described above. For this reason, pattern recognition is inhibited, and as a result, a pedestrian may be overlooked.

また、物体認識部１８が画像認識センサ１２のカメラにより撮像される画像中から認識する認識対象物としては、認知支援装置１０による歩行者などの注意喚起の対象物体だけでなく、例えば、道路上の白線も含まれる。白線を例に挙げると、マーキング光の形状および照射位置によっては、以下の図３に示すようにマーキング光を白線として誤認識してしまう可能性がある。   In addition, the recognition target object that the object recognition unit 18 recognizes from the image captured by the camera of the image recognition sensor 12 is not only a target object for alerting a pedestrian or the like by the recognition support device 10, for example, on a road The white line is also included. Taking a white line as an example, depending on the shape and irradiation position of the marking light, the marking light may be erroneously recognized as a white line as shown in FIG. 3 below.

図３は、マーキング光の照射に起因する白線の誤認識の一例を説明するための図であり、カメラにより撮像された画像を示している。図３に示す例では、線状の光が図面右側の白線の近くにおいて白線の近くに照射されている。この例では、物体認識部１８は、マーキング光を白線として誤って認識した結果として、図３に示すように、画像認識によって特定された白線の一部が実際の白線から乖離してしまっている。   FIG. 3 is a diagram for explaining an example of white line misrecognition caused by the irradiation of marking light, and shows an image captured by a camera. In the example shown in FIG. 3, linear light is irradiated near the white line near the white line on the right side of the drawing. In this example, as a result of erroneously recognizing the marking light as a white line, the object recognition unit 18 has a part of the white line specified by the image recognition deviated from the actual white line as shown in FIG. .

２−２．実施の形態に係る光照射制御の概要
図４は、本発明の実施の形態に係る光照射制御を説明するためのタイムチャートである。この光照射制御による照射は、光の照射実行期間Ｔ中に、照射期間と非照射期間とが交互に繰り返されるように間欠的に実行される（以下、「間欠照射」と称する）。そして、図４に示すように、間欠照射は、非照射期間が露光期間と一致し、かつ、照射期間が非露光期間と一致するように実行される。 2-2. Overview of Light Irradiation Control According to Embodiment FIG. 4 is a time chart for explaining light irradiation control according to the embodiment of the present invention. Irradiation by this light irradiation control is executed intermittently during the light irradiation execution period T so that the irradiation period and the non-irradiation period are alternately repeated (hereinafter referred to as “intermittent irradiation”). And as shown in FIG. 4, intermittent irradiation is performed so that a non-irradiation period may correspond with an exposure period, and an irradiation period may correspond with a non-exposure period.

より詳細には、図４に示す例では、間欠照射の周期は、画像認識センサ１２のカメラの露光周期と等しく、数十ミリ秒程度の微小な値である。このような微小な周期で光が照射されると、人の目には、光が連続的に照射しているように見える。このため、このような間欠照射が利用されても、歩行者および運転者からのマーキング光の見え方が妨げられることはないといえる。ただし、間欠照射を利用する場合には、次のような輝度に対する配慮がなされることが望ましい。   More specifically, in the example shown in FIG. 4, the period of intermittent irradiation is equal to the exposure period of the camera of the image recognition sensor 12 and is a minute value of about several tens of milliseconds. When light is irradiated with such a minute cycle, it seems to human eyes that light is continuously irradiated. For this reason, even if such intermittent irradiation is used, it can be said that the appearance of the marking light from the pedestrian and the driver is not hindered. However, when using intermittent irradiation, it is desirable to consider the following brightness.

すなわち、図４に示す間欠照射の例では、照射実行期間Ｔ中の各照射期間の合計値は、図２に示す連続照射の例における全体の照射期間（＝照射実行期間Ｔ）の半分の値となる。このため、連続照射の実行時と同等の電流値で間欠照射が行われると、マーキング光の輝度が２分の１に低下してしまう。このため、間欠照射時の輝度は、マーキング光として要求される明るさを確保するために、例えば電流値の調整によって、連続照射時の値と比べて高くなるように（図４の例では２倍となるように）適切に調整されることが望ましい。   That is, in the example of intermittent irradiation shown in FIG. 4, the total value of each irradiation period in the irradiation execution period T is half the total irradiation period (= irradiation execution period T) in the continuous irradiation example shown in FIG. It becomes. For this reason, if intermittent irradiation is performed at a current value equivalent to that at the time of continuous irradiation, the brightness of the marking light is reduced to one half. For this reason, in order to ensure the brightness required as marking light, the luminance at the time of intermittent irradiation is set to be higher than the value at the time of continuous irradiation, for example, by adjusting the current value (2 in the example of FIG. 4). It is desirable to adjust it appropriately.

２−３．実施の形態に係る光照射制御に関するＥＣＵの処理の一例
図５は、本発明の実施の形態に係る光照射制御に関する処理のルーチンを示すフローチャートである。ＥＣＵ１６は、車両の運転中に（より詳細には、相互認知支援が必要とされるときに）、本ルーチンを繰り返し実行する。 2-3. FIG. 5 is a flowchart showing a routine of processing related to light irradiation control according to the embodiment of the present invention. The ECU 16 repeatedly executes this routine during driving of the vehicle (more specifically, when mutual recognition support is required).

図５に示すルーチンのステップＳ１００の処理は、物体認識部１８により実行される。ステップＳ１００では、画像認識センサ１２から受け取った画像に対して画像認識処理を施すことにより、自車両周辺の物体の認識が行われる。認識された物体の情報は、物体認識部１８から光照射制御部２０に送信される。   The object recognition unit 18 executes the process in step S100 of the routine shown in FIG. In step S100, an image recognition process is performed on the image received from the image recognition sensor 12, thereby recognizing objects around the host vehicle. Information on the recognized object is transmitted from the object recognition unit 18 to the light irradiation control unit 20.

ステップＳ１０２およびＳ１０４の処理は、光照射制御部２０により実行される。ステップＳ１０２では、物体認識部１８により認識された物体が注意喚起対象の歩行者であるか否かが、公知の手法を利用して判定される。   The processes of steps S102 and S104 are executed by the light irradiation control unit 20. In step S102, it is determined using a known method whether or not the object recognized by the object recognition unit 18 is a pedestrian to be alerted.

ステップＳ１０２の判定が不成立となる場合には、ステップＳ１００の処理が繰り返し実行される。一方、ステップＳ１０２の判定が成立する場合には、ステップＳ１０４の処理が選択される。ステップＳ１０４では、ステップＳ１０２の処理によって特定された注意喚起対象の歩行者に対して、間欠照射を利用する光照射制御（図４参照）が実行される。   If the determination in step S102 is not established, the process in step S100 is repeatedly executed. On the other hand, if the determination in step S102 is true, the process in step S104 is selected. In step S104, light irradiation control (see FIG. 4) using intermittent irradiation is executed on the pedestrian to be alerted identified by the process in step S102.

２−４．実施の形態に係る光照射制御の効果
図６は、本発明の実施の形態に係る光照射制御の効果を説明するための図である。対比のための連続照射（光照射制御Ａ）の例では、各露光期間の全体がマーキング光の照射期間と重なる（図２参照）。このため、図６に示すように、実際の見え方を示す図だけでなく、カメラにより撮像された画像に対しても、マーキング光が同様に映り込んでいることが分かる。 2-4. Effect of Light Irradiation Control According to Embodiment FIG. 6 is a diagram for explaining the effect of light irradiation control according to the embodiment of the present invention. In the example of continuous irradiation (light irradiation control A) for comparison, the entire exposure period overlaps with the marking light irradiation period (see FIG. 2). Therefore, as shown in FIG. 6, it can be seen that the marking light is reflected in the image captured by the camera as well as the diagram showing the actual appearance.

一方、本実施形態の光照射制御によれば、カメラの各露光期間中には照射が行われないように間欠照射が実行される。このため、図６に示すように、連続照射の例と同様に歩行者に向けてマーキング光を照射しつつ、カメラにより撮像された画像中にはマーキング光が移り込まないようにすることができる。このため、マーキング光の照射によって画像中の歩行者の見え方が変化することを抑制できる。その結果、マーキング光の照射に起因する歩行者の検出ミスが抑制され、また、画像中の他の認識対象物（例えば、白線）の誤認識も抑制される。   On the other hand, according to the light irradiation control of the present embodiment, intermittent irradiation is performed so that irradiation is not performed during each exposure period of the camera. For this reason, as shown in FIG. 6, it is possible to prevent marking light from being transferred into an image captured by a camera while irradiating marking light toward a pedestrian as in the case of continuous irradiation. . For this reason, it can suppress that the appearance of the pedestrian in an image changes by irradiation of marking light. As a result, detection errors of pedestrians due to the irradiation of marking light are suppressed, and erroneous recognition of other recognition objects (for example, white lines) in the image is also suppressed.

３．間欠照射の変形例
上述した実施の形態においては、間欠照射は、非照射期間が露光期間と一致し、かつ、照射期間が非露光期間と一致するように実行される（図４参照）。しかしながら、本発明に係る「間欠照射」は、光の非照射期間がカメラの露光期間の少なくとも一部を含むように実行されるようになっていれば、上記の例以外の態様で実行されてもよい。具体的には、間欠照射は、例えば、以下の図７中の変形例１〜３に示される態様で実行されてもよい。 3. In the embodiment described above, intermittent irradiation is executed such that the non-irradiation period coincides with the exposure period, and the irradiation period coincides with the non-exposure period (see FIG. 4). However, the “intermittent irradiation” according to the present invention is executed in a mode other than the above example as long as the non-irradiation period of light is executed so as to include at least a part of the exposure period of the camera. Also good. Specifically, intermittent irradiation may be performed in the mode shown in the first to third modifications in FIG.

図７は、本発明の実施の形態に係る光照射制御における間欠照射の変形例１〜３を説明するための図である。図７中の変形例１に係る間欠照射は、非照射期間が露光期間の全体だけでなく非露光期間の一部を含むように実行される。この変形例１（次の変形例２も同様）のように、本発明に係る間欠照射では、必ずしも、非照射期間が露光期間と一致し、かつ、照射期間が非露光期間と一致していなくてもよい。   FIG. 7 is a diagram for explaining modified examples 1 to 3 of intermittent irradiation in the light irradiation control according to the embodiment of the present invention. The intermittent irradiation according to Modification 1 in FIG. 7 is executed so that the non-irradiation period includes not only the entire exposure period but also a part of the non-exposure period. As in the first modification (the same applies to the second modification 2), in the intermittent irradiation according to the present invention, the non-irradiation period does not necessarily coincide with the exposure period, and the irradiation period does not necessarily coincide with the non-exposure period. May be.

図７中の変形例２は、非照射期間が露光期間の全体ではなく当該露光期間の一部に相当する例である。この変形例２によれば、照射期間の一部が露光期間と重なることになる。しかしながら、このような変形例２であっても、露光期間が全体的に照射期間と重なる例（光照射制御Ａ）と比べて、露光期間中の照射が時間的に短くなる。このため、光照射制御Ａの例と比べて、カメラにより撮像される画像への照射光の映り込みを抑制することができる。   Modification 2 in FIG. 7 is an example in which the non-irradiation period corresponds to a part of the exposure period rather than the entire exposure period. According to the second modification, a part of the irradiation period overlaps with the exposure period. However, even in Modification 2 as described above, irradiation during the exposure period is shortened in time compared to an example in which the exposure period entirely overlaps with the irradiation period (light irradiation control A). For this reason, in comparison with the example of the light irradiation control A, the reflection of the irradiation light on the image captured by the camera can be suppressed.

また、図７中の変形例３は、照射実行期間Ｔ中に繰り返される照射期間と非照射期間の一部において、照射期間と非露光期間との同期がなされていない例である。本発明に係る間欠照射は、照射期間と非照射期間とが規則的に繰り返される図４に示す例および変形例１、２と異なり、照射期間と非照射期間とが例えば変形例３のように不規則に繰り返されるように実行されてもよい。   Further, Modification 3 in FIG. 7 is an example in which the irradiation period and the non-exposure period are not synchronized in a part of the irradiation period and the non-irradiation period that are repeated during the irradiation execution period T. The intermittent irradiation according to the present invention is different from the example shown in FIG. 4 in which the irradiation period and the non-irradiation period are regularly repeated and the first and second modifications, and the irradiation period and the non-irradiation period are, for example, as in the third modification. It may be performed so that it repeats irregularly.

１０ 車両用認知支援装置
１２ 画像認識センサ
１４ 照射装置
１６ 電子制御ユニット（ＥＣＵ）
１８ 物体認識部
２０ 光照射制御部 DESCRIPTION OF SYMBOLS 10 Vehicle recognition assistance apparatus 12 Image recognition sensor 14 Irradiation apparatus 16 Electronic control unit (ECU)
18 Object recognition unit 20 Light irradiation control unit

Claims (2)

露光期間と非露光期間とを交互に繰り返しながら自車両の周辺を撮像するカメラを含む画像認識センサと、
前記自車両の周辺に光を照射可能な照射装置と、
前記画像認識センサを用いて前記自車両の周辺に存在する物体を認識する物体認識部と、
前記物体認識部により認識された物体が注意喚起の対象物体である場合に、前記対象物体に対して前記照射装置を用いて光の間欠照射を実行する光照射制御部と、
を備え、
前記間欠照射は、光の照射期間と非照射期間とが交互に繰り返され、かつ、前記非照射期間が前記露光期間の少なくとも一部を含むように実行される
ことを特徴とする車両用認知支援装置。 An image recognition sensor including a camera that images the periphery of the vehicle while alternately repeating an exposure period and a non-exposure period;
An irradiation device capable of irradiating light around the host vehicle;
An object recognition unit for recognizing an object present around the host vehicle using the image recognition sensor;
When the object recognized by the object recognition unit is a target object for alerting, a light irradiation control unit that performs intermittent light irradiation on the target object using the irradiation device;
With
The intermittent irradiation is performed such that a light irradiation period and a non-irradiation period are alternately repeated, and the non-irradiation period includes at least a part of the exposure period. apparatus. 前記間欠照射は、前記非照射期間が前記露光期間と一致し、かつ、前記照射期間が前記非露光期間と一致するように実行される
ことを特徴とする請求項１に記載の車両用認知支援装置。 2. The vehicle recognition support according to claim 1, wherein the intermittent irradiation is executed such that the non-irradiation period coincides with the exposure period and the irradiation period coincides with the non-exposure period. apparatus.
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